Method, device and system for underwater acoustic communication

1. An underwater acoustic communicator for underwater telemetry and remote control under time-varying multipath channel, comprises a receiving device,

configured to capture a frame synchronization signal, a calibration signal, a training sequence and an information sequence transmitted in sequence via water medium from a transmitting device of another underwater acoustic communicator, and

perform a time forward shifting and reversing processing on a captured synchronization signal to obtain a forward shifted time reversal coefficient, and perform a time backward shifting and reversing processing on the captured synchronization signal to obtain a backward shifted time reversal coefficient;

perform a convolution operation of the forward shifted time reversal coefficient with a subsequently captured information sequence to obtain a forward shifted time reversal output, and perform a convolution operation of the backward shifted time reversal coefficient with the captured information sequence to obtain a backward shifted time reversal output;

process the forward shifted time reversal output with a first equalizer to obtain a set of equalizer outputs, and process the forward shifted time reversal output with a second equalizer to obtain another set of equalizer outputs;

select one with smaller error from the above two equalizers; and

decode over an output of the selected equalizer to enable underwater telemetry and remote control under time-varying multipath channel,

wherein the receiving device comprises an adaptive gradient iterator configured to iterate equalizer coefficient, by means of:

capturing the training sequence that arrives before the information sequence, performing a convolution calculation of the forward shifted time reversal coefficient and the backward shifted time reversal coefficient with the training sequence, and sending results of the convolution calculation respectively to the first equalizer and the second equalizer, wherein the first equalizer and the second equalizer respectively run an adaptive algorithm, with the training sequence as a target sequence, to perform equalizer coefficient iteration; and

running the adaptive algorithm in an information sequence phase, with decided symbols as the training sequence, to perform equalizer coefficient iteration,

wherein equalizer coefficient iteration is given by:

e fi [i]=s[i]−{w fi [i, 1], w fi [i, 2], . . . , w fi [i,L]}{r fi [i],r fi [i+ 1], . . . , r fi [i+L− 1]} T ,

w fi [i+ 1, j]=w fi [i,j]+ 2μ e fi [i]r fi [i+j− 1],

e bi [i]=s[i]−{w bi [i, 1], w fi [i, 2], . . . , w bi [i,L]}{r bi [i],r bi [i+ 1], . . . , r bi [i+L− 1]} T ,

w bi [i+ 1, j]=w bi [i,j]+ 2μ e bi [i]r bi [i+j− 1],

wherein w fi [i,j] and w bi [i,j] are coefficients of the first equalizer and the second equalizer of order L at time i, respectively, s[i] is the training sequence, r fi [i] and r bi [i] are the two sets of equalizer outputs, e fi [i] and e bi [i] are error signals of the first equalizer and the second equalizer, respectively, μ is a step factor of LMS iteration, and j=0, . . . , N−1, where N is a channel delay spread.

2. The underwater acoustic communicator according to claim 1 , wherein the receiving device comprising a synchronizer configured to

capture a calibration signal that arrives after the synchronization signal using a cross-correlation;

obtain an actual delay between the synchronization signal and the calibration signal, and obtaining an initial Doppler estimated value by comparing the actual delay with an original delay; and

perform carrier compensation on a received signal in a de-carrier processing according to the initial Doppler estimated value.

3. The underwater acoustic communicator according to claim 1 , wherein the receiving device comprising an adaptive gradient iterator configured to adaptively iterating the forward shifted time reversal coefficient and the backward shifted time reversal coefficient, by means of:

calculating gradient values corresponding to forward and backward shifts according to errors outputted by the two sets of equalizer outputs; and

adaptively updating the forward shift time reversal coefficient and the backward shift time reversal coefficient using a gradient descent iterative principle.

4. The underwater acoustic communicator according to claim 1 , wherein the receiving device comprises a data decoder configured to

input the two sets of equalizer outputs to the first equalizer and the second equalizer for adaptive iteration through an LMS algorithm to obtain the error signals of the first equalizer and the second equalizer, respectively;

derive mean square values of the error signals of the first equalizer and the second equalizer, respectively, to obtain mean square errors of the first equalizer and the second equalizer; and

select, for decoding, one of the two sets of equalizer outputs which has a smaller mean square error.

5. The underwater acoustic communicator according to claim 1 , wherein comprising:

an analog-to-digital converter;

a set of time reversal-equalizers;

an adaptive gradient iterator; and

a data decoder,

wherein the set of time reversal-equalizers comprises a forward shift time reverser, a first equalizer, a backward shift time reverser, and a second equalizer, input terminals of the forward shift time reverser and the backward shift time reverser are respectively connected to an output terminal of the analog-to-digital converter, output terminals of the forward shift time reverser and the backward shift time reverser are respectively connected to input terminals of the first equalizer and the second equalizer, and output terminals of the first equalizer and the second equalizer are respectively connected to the input terminals of the adaptive gradient iterator,

wherein an output terminal of the adaptive gradient iterator is connected to input terminals of the forward shift time reverser and the backward shift time reverser, and

wherein the data decoder is configured to perform data decoding on outputs of the first equalizer and the second equalizer.

6. The underwater acoustic communicator according to claim 5 , wherein comprising a synchronizer connected to the output terminal of the analog-to-digital converter, wherein the synchronizer is configured to capture a synchronization signal for frame synchronization to establish synchronization.

7. The underwater acoustic communicator according to claim 5 , wherein comprising a data preprocessor connected to an input terminal of the analog-to-digital converter, wherein the data preprocessor comprises a receiving transducer, a preamplifier and a filter connected to each other.